@article {dunkelberger2023, title = {Hybrid FES-exoskeleton control: Using MPC to distribute actuation for elbow and wrist movements}, journal = {Frontiers in Neurorobotics}, volume = {17}, year = {2023}, pages = {1127783}, doi = {10.3389/fnbot.2023.1127783}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Frontiers_2023_Dunkelberger_hybridFESexo.pdf}, author = {Dunkelberger, Nathan and Berning, Jeffrey and Schearer, Eric M and O{\textquoteright}Malley, Marcia K} } @article {2016, title = {Haptic feedback based on movement smoothness improves performance in a perceptual-motor task}, journal = {IEEE Transactions on Haptics}, volume = {15}, number = {2}, year = {2022}, month = {2022}, pages = {382-391}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IEEE_ToH_2021_Sullivan_haptic-feedback-smoothness-MT5.pdf}, author = {Sullivan, Jennifer L and Pandey, Shivam and Byrne, Michael D and O{\textquoteright}Malley, Marcia K} } @article {rose2018hybrid, title = {A Hybrid Rigid-Soft Hand Exoskeleton to Assist Functional Dexterity}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, number = {1}, year = {2019}, month = {01/2019}, pages = {73-80}, issn = {2377-3766}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/Rose2018RA-L.pdf}, author = {Rose, Chad and O{\textquoteright}Malley, Marcia} } @article {8304762, title = {The hBracelet: a wearable haptic device for the distributed mechanotactile stimulation of the upper limb}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, number = {3}, year = {2018}, month = {2018}, pages = {2198-2205}, abstract = {

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Towards a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called "hBracelet." It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user{\textquoteright}s arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this work we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. We also present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus improving telepresence.

}, keywords = {Actuators, Belts, Force, Haptic interfaces, Haptics and haptic interfaces, Human-Centered Robotics, Pulleys, Robots, Skin, Telerobotics and Teleoperation, Wearable Robots}, doi = {10.1109/LRA.2018.2810958}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/meli2018ieee.pdf}, author = {L. Meli and I. Hussain and M. Aurilio and M. Malvezzi and M. O{\textquoteright}Malley and D. Prattichizzo} } @article {1696, title = {Human-Scale Motion Capture with an Accelerometer-Based Gaming Controller}, journal = {Journal of Robotics and Mechatronics}, volume = {25}, number = {3}, year = {2013}, month = {03/2013}, pages = {458-465}, chapter = {458}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/JRM_PRESS_Purkayastha-et-al_2013.pdf}, author = {Purkayastha, Sagar N and Byrne, Michael D and O{\textquoteright}Malley, M.K.} } @inbook {105, title = {Haptic Interfaces}, booktitle = {HCI: Beyond the GUI}, year = {2008}, pages = {25-74}, publisher = {Morgan-Kaufman Publisher}, organization = {Morgan-Kaufman Publisher}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/105-Kortum02Gupta-O\%27Malley.pdf}, author = {O{\textquoteright}Malley, M.K. and Abhishek Gupta} } @proceedings {075210997323, title = {Haptic Interfaces for a LabVIEW-based System Dynamics Course}, year = {2006}, note = {

Labview;Course content;Laboratory exercises;Haptic paddles;

}, address = {Chicago, IL, United States}, abstract = {

Too often in undergraduate mechanical engineering courses, the content of laboratory exercises is not well coordinated with course content, and the exercises are unrelated to each other. As a result, students have a difficult time grasping the "big picture" themes. This project at Rice University seeks to improve the effectiveness of laboratory exercises in a required undergraduate mechanical engineering system dynamics course via student-centered learning and laboratory topics featuring haptic paddles, devices that allow users to interact via the sense of touch with virtual environments. One outcome of these improvements is a cohesive set of laboratory experiments using the haptic paddles as a single experimental test bed for multiple experiments. The Haptic Paddle exercises are unique because they allow the students to analyze and build their own haptic interface, or force-reflecting system. The students are able to see many subsets of mechanical engineering come together in a series of exercises, including assembly, system analysis, calibration, system modeling, and dynamics. Finally, a key advantage to the haptic paddle labs is that they tie closely with the course material. This paper describes the development of haptic paddle laboratory kits and associated National Instruments LabVIEW virtual instrumentation to support the adaptation of laboratory experiments for a required undergraduate system dynamics course at Rice University. The laboratory experiments use simple haptic interfaces, devices that allow the students to interact via the sense of touch with virtual environments. A clear benefit of this laboratory series is that students study the haptic paddle as a real electromechanical system in addition to using the haptic paddle as a tool to interact with virtual mechanical systems. The haptic paddle hardware has been modified to improve robustness, and the LabVIEW graphical programming language is used for data acquisition and control throughout the laboratory series. The paper will present some details of the laboratory components, and preliminary assessment of learning outcomes using this laboratory series compared to more traditional modular labs used in prior years. {\textcopyright} American Society for Engineering Education, 2006.

}, keywords = {Computer programming languages, Electromechanical devices, Engineering education, Learning systems, Mechanical engineering, Students, Virtual reality}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/36-ASEE2006-paper-O\%27Malley\%20session\%201526.pdf}, author = {Kevin Bowen and O{\textquoteright}Malley, M.K.} } @proceedings {8529772, title = {Human-machine admittance and transparency adaptation in passive user interaction with a haptic interface}, year = {2005}, note = {

human-machine admittance;transparency adaptation;passive user interaction;haptic interface;force amplitude;passive user induced interactions;event-based haptic interactions;virtual environments;force amplitudes;transparency bandwidth;

}, month = {03/2005}, pages = {283 - 9}, address = {Pisa, Italy}, abstract = {

This paper addresses human adaptation to changes in coupling impedance and force amplitude during passive user induced (PUI) interactions with a haptic interface. PUI interactions are characterized as event-based haptic interactions or haptic recordings that are replayed to the user. In the study, virtual environments are displayed to passive users with variable coupling stiffness and force amplitudes, and transparency bandwidth and human-machine admittance are measured. Results indicate that transparency bandwidth and the human-machine admittance do not change significantly for permutations of force amplitudes and coupling impedances, nor do they vary significantly across users. The reason for this invariance is that, during a PUI interaction, users tend approach a similar displacement profile. As a result, all users will have similar apparent admittance and transparency. The findings give sufficient justification for the use of universal compensators that improve transparency bandwidth, and that can be designed based solely on a priori transparency measurements for a typical user

}, keywords = {Haptic interfaces, Human computer interaction, Manipulators, Virtual reality}, doi = {10.1109/WHC.2005.76}, url = {http://www2.computer.org/portal/web/csdl/doi/10.1109/WHC.2005.76}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/64-00\%20-\%20Human-machine\%20admittance\%20and\%20transparency\%20adaptation\%20in\%20passive\%20user\%20interaction\%20with\%20-\%20mcjunk.pdf}, author = {McJunkin, Samuel and Yanfang Li and O{\textquoteright}Malley, M.K.} } @article {03507772035, title = {Haptic feedback applications for robonaut}, journal = {Industrial Robot}, volume = {30}, number = {6}, year = {2003}, note = {Haptic feedback;Humanoid robot;Teleoperator;}, pages = {531 - 542}, abstract = {

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA{\textquoteright}s Johnson Space Center in a collaborative effort with Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptable. In the third experiment, we used Robonaut to perform a two-arm task where a compliant ball was translated in the robot{\textquoteright}s workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

}, keywords = {Computer control systems, Feedback control, Haptic interfaces, Robotics, Space applications, Telecontrol equipment}, url = {http://dx.doi.org/10.1108/01439910310506800}, attachments = {https://mahilab.rice.edu/sites/default/files/publications/IndustrialRobotO\%27Malley-Ambrose2003.pdf}, author = {O{\textquoteright}Malley, M.K. and Robert O. Ambrose} }